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[utils] enhance YAML emission with recursive handling #9356

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Run time

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Job	Run time
GetMatrix	2s
CheckLint	47s
BuildAndTest (Coverage)	29m 26s
BuildAndTest (Debug)	47m 43s
BuildAndTest (Release)	31m 30s
BuildAndTest (Clang)	25m 50s
Publish-Snap	44s
	2h 16m 2s